CN106584439A - Industrial enterprise automatic navigation carrying device - Google Patents
Industrial enterprise automatic navigation carrying device Download PDFInfo
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- CN106584439A CN106584439A CN201710068333.1A CN201710068333A CN106584439A CN 106584439 A CN106584439 A CN 106584439A CN 201710068333 A CN201710068333 A CN 201710068333A CN 106584439 A CN106584439 A CN 106584439A
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- scissor
- lifting
- remote control
- handgrip
- oil cylinder
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
Abstract
The invention relates to an enterprise warehouse material carrying device, in particular to an industrial enterprise automatic navigation carrying device. The device mainly consists of a material rack navigation subsystem based on radio-frequency identification and a material carrying subsystem based on remote control; the material rack navigation subsystem based on radio-frequency identification includes a map voice navigator and a warehouse material rack label; and the material carrying subsystem based on remote control includes a telescopic manipulator, a lifting platform, a remote controller, a controller and walking mechanical equipment. The industrial enterprise automatic navigation carrying device uses a two-degree-of-freedom remote control manipulator for reducing the labor intensity, and is higher in precision, sensitivity, signal continuity, interference resistance and remote control distance of use of an industrial remote controller compared with use of a civil remote controller. The carrying device can quickly find out the goods destination, adopts automatic voice prompt to achieve high automation degree, can largely reduce the enterprise cost, and improves the enterprise economic benefit.
Description
Technical field
The present invention relates to a kind of enterprise's warehouse materials transfer robot, and in particular to dress is carried in the navigation of automatization of industrial undertaking
Put.
Background technology
RF identification (Radio Frequency Identification, RFID), also known as electronic tag (E-Tag), be
A kind of utilization radiofrequency signal automatic identification destination object simultaneously obtains the technology of relevant information.With the progress of technology, RFID applications
Field expanding day, has been related to the various aspects of people's daily life, and will become one of Future Information social construction
Basic technology.RFID typical case's applications include：It is used for storehouse management, production line automation, article of everyday use sale in logistics field；Handing over
Logical transport field is used for container with parcel management, expressway tol lcollection and Car park payment；It is used for flock of sheep, fish in farming, animal husbandry and fishery
The management of class, fruit etc. and house pet, wild animal tracking；It is used for pharmaceutical production, patient nursing, medical waste in medical industry
Tracking；It is used for the visualized management of parts and stock in manufacturing industry；RFID can also be applied to books and document management, gate inhibition
Manage, position various applications such as false proof with object tracking, environment sensing and check.
Material handling is material movement, storage, protection and the science for controlling and art.The target of manufacturing facility is that manufacture is produced
Product are simultaneously sold, and material handling does not directly increase the value of product.And in the service trades such as some express companies, thing
Material is carried actually or provides value-added service for customer, and speedup is surprising.
According to statistics：The 20%～50% of total running cost is material handling/freight in manufacturing industry, and excellent logistics
System design, can make the expense reduce 10%～30%.Electronic enterprise warehouse is no exception, and the substantial amounts of time is wasted in searching mesh
Bin, material handling and restocking also time and effort consuming.
Material handling robot is can be seen that from above-mentioned statistical data to have broad application prospects.By literature survey
Show, that what is studied at present focuses on both direction：The intellectuality of material handling robot；Stored goods flow tube based on RFID
Reason system.And the semi-automatic material for being based on RFID is carried teleoperator and is ignored.Applicant retrieved patent webpage money
Material, for example, application number 201110392785.8, RFID tag, simply refer to it includes a shell to the patent, with long and narrow
External form its define a longitudinal edge；And an insert (inlay), in being placed in shell.There is insert a base plate carrying one to encapsulate core
Piece and the Wire Antennas being connected with encapsulation chip, Wire Antennas further include an electronic contact and are directly electrically connected with encapsulation chip；
And an extension, extend outward directly from electronic contact, wherein the bearing of trend of extension and longitudinal edge substantial orthogonality.
The device can not walk, and there is serious technology prejudice.Storehouse raw material management system (application number based on REID
201510474578.5) walking mechanism is not designed yet, there is also serious technology prejudice.
If what a kind of enterprise warehouse materials transfer robot exactly enterprise based on RF identification of design was thirsted for.
The content of the invention
The present invention is directed to above-mentioned existing problems, devises set of system, and it includes navigation system and materials conveying system.Lead
Boat system includes map Voice Navigation instrument, the warehouse bin label based on RFID, according to the current location shown on navigator and
Voice message is driven, and can successfully arrive at purpose bin.Materials conveying system is the electricity for carrying multiple degrees of freedom telemanipulator
Sub- enterprise's warehouse materials transport vehicle, including transport car body, remote control, two-freedom telemanipulator.Using remote control control machine
Tool handss both vertically and horizontally the motion of two degree of freedom and pick and place the action of body feed tank, i.e., grab when mechanical hand is protruded horizontally up
Body feed tank is taken, bin target zone is risen to, body feed tank is put down in the layer during retraction, realized the equipment of commanding behind the scenes and grab automatically
Lift, place body feed tank.Production efficiency and automaticity can be so significantly increased.
Technical solution according to the present invention：
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, the material handling robot system is mainly by the material based on RF identification
Frame navigation subsystem, the material handling subsystem based on remote control are constituted；Bin navigation subsystem based on RF identification includes ground
Graphic language sound navigator 63, warehouse bin label 64；Material handling subsystem based on remote control includes that telescopic magic hand 60, lifting are flat
Platform 61, remote control 59, controller 55 and walking machine equipment composition；Walking machine equipment is by service brake 51, frame panel 52, storage
Battery 53, seat cushion 54, controller 55, direct current generator 56, transport car bottom plate 57, body feed tank 58, remote control 59, telescopic magic hand
60th, hoistable platform 61, backrest 62, map Voice Navigation instrument 63, warehouse bin label 64, radiofrequency signal 65, steering handle
66 compositions；Steering handle 66 is arranged on the anterior frame panel 52 of vehicle, and map Voice Navigation instrument 63 is arranged on and turns to handle
The right side of handss 66, map Voice Navigation instrument 63 launches in time radiofrequency signal 65, and service brake 51 is arranged on the frame panel 52 of vehicle, foot
51 are stopped installed in the underface of map Voice Navigation instrument 63；Frame panel 52 is also equipped with seat cushion 54 and backrest 62, in seat cushion
54 lower sections are provided with accumulator 53；Controller 55 is installed in the box at the rear of seat cushion 54；In the rear of seat cushion 54 also placing materials
Case 58；Body feed tank 58 is placed in before hoistable platform (61)；Lay transportable transport car bottom plate 57 on frame panel 52 again；
Hoistable platform 61 and telescopic magic hand 60 are installed on transport car bottom plate 57；Described map Voice Navigation instrument 63 is by navigator liquid
Brilliant touch screen 1, speaker 2, a upper website report button 3, next website and report button 4, quiet switch key 5, navigator
On and off switch 6 is constituted；Described telescopic magic hand 60 is by telescopic magic hand support 21, expansion link connecting bolt 22, flexible scissor
Guide rail 23, expansion link 24, hydraulically extensible oil cylinder 25, hydraulically extensible oil cylinder power line 26, flexible scissor 27, a left handgrip 28, left side are grabbed
Handss spacer pin 29, right handgrip 30, right handgrip stopper slot 31 are constituted；Described hydraulically extensible oil cylinder power line 26 is stretched installed in hydraulic pressure
The bottom of contracting oil cylinder 25 and with motor UNICOM on hydraulic pump；The piston rod phase of described expansion link 24 and hydraulically extensible oil cylinder 25
Connection, simultaneous retractable bar 24 is connected again with expansion link connecting bolt 22；Described expansion link 24 is provided with circular hole；Described expansion link
Gap is the dynamic cooperation of 0.05mm between connecting bolt 22 and flexible scissor guide rail 23, and pre-sets lithio in gap therebetween
Grease；Described flexible scissor 27 is 6, and cross-shaped arrangement；Described flexible scissor 27 and telescopic magic hand
Frame 21 connect in, above a flexible scissor 27 be to be fixed in telescopic magic hand support 21 by bearing pin, below one stretch
Scissor 27 is connected with expansion link connecting bolt 22；Described left handgrip 28 is provided with left handgrip spacer pin 29, described right handgrip
30 to be provided with right handgrip stopper slot 31 spacing；Described telescopic magic hand support 21, flexible scissor 27, left handgrip 28, right handgrip 30
Material all be aluminium alloy, its trade mark be 7050-T7451；Described hoistable platform 61 is by platform 41, lifting scissor 42, lifting
Scissor guide rail 43, base plate 44, hydraulic lifting oil cylinder 45, elevating lever 46 are constituted；Described platform 41 is arranged in lifting scissor 42
Side；The described material of platform 41 is carbon structural steels, and its trade mark Q235, its thickness is 15mm；Described lifting scissor 42 is installed
Between base plate 44 and platform 41, lifting scissor 42 is in arranged crosswise；Described lifting scissor 42 is 4, described in bottom left
Lifting scissor 42 be connected by bearing pin with base plate 44；Lifting scissor 42 described in bottom right and lifting scissor guide rail 43 are flat
Face rail plate, lifting scissor guide rail 43 is provided with T-slot, and the lifting scissor 42 described in bottom right is provided with T-flange；The bottom of at
Hydraulic lifting oil cylinder 45 is also equipped with plate 44；The piston rod of described hydraulic lifting oil cylinder 45 passes through shaft coupling with elevating lever 46
Connection；Elevating lever 46 constitutes rotary pair by connecting rod with lifting scissor 42；Described remote control 59 is provided with 16 single-chip microcomputers, panel
On infrared transmitting tube 11, lifting key 12 be installed, decline key 13, power supply of remote controller switch 14, retraction key 15, extension key 16, distant
Control device LCDs 17；Described remote control 59 is provided with 8 single-chip microcomputers.Described hoistable platform 61 is erected at transport car bottom plate
On 57；Described telescopic magic hand 60 is arranged on hoistable platform 61.The present invention is led using the map voice based on RFID technique
Boat, saves the time for searching destination, improves work efficiency and comfort level；Material is carried using electric transporting vehicle, using lifting
Platform and telescopic magic hand pick and place body feed tank, time saving and energy saving.
Further technical solution is the present invention：
80,C51 8 single-chip microcomputers of series that described remote control 59 is adopted, band agitator and clock circuit, 128B in piece
Data storage in piece, 4KB piece internal program memorizeies, the addressing range of sequence memorizer are that 64KB, the outer data storage of piece are sought
Location scope is 64KB, 4 × 8 I/O lines, 1 full duplex serial i/O Interface, 2 16 bit timing devices/enumerators, interruption systems have
5 interrupt source, it is programmed for two priority, 111 instructions, 3V running voltages.The hardware resource of 8 single-chip microcomputers, not only
Meet the needs of the simple liquid crystal display of remote control, also meet that abundant input/output interface, arithmetic speed be suitable and low work(
The requirement of consumption.
Described map Voice Navigation instrument 63 includes RF receiving circuit and 16 single-chip microcomputer audio frequency and video process circuits；Its
In, RF receiving circuit working frequency range is respectively tri- frequency ranges of 2.45GHz, 125KHz, 13.56MHz；The bus of 16 single-chip microcomputers
Frequency is 35～40MHz, program flash memory is 128KB, random access memory capacity is 8KB, data flash memory capacity is 8KB；Work(
Energy module includes that internal storage, 2 asynchronous serial port communications, 1 Serial Peripheral Interface (SPI), 18 passage input/output are more fixed
When device module, 1 cycle interruption timer module, the A/D modular converters of 16 passages, 18 channel pulse width modulation module, 4
Individual input/output numeral mouth.The hardware resource of 16 single-chip microcomputers, not only can meet and be shown using large-size liquid crystal display screen
The needs of the navigator of device, it is also possible to meet the card reader needs with warehouse bin label communication.
Described controller 55 adopts programmable logic controller (PLC)；Its hardware configuration is identical with microcomputer, and it includes
Power supply, CPU, memorizer, input/output interface circuit, functional module, communication module；Wherein, memorizer contains system
Program storage and user program memory, memory is 2k, and digital quantity is 248 points, the tunnel of analog quantity 35；CPU is
Processing speed is 0.8～1.2 millisecond of CPU.Programmable logic controller (PLC) has following salient feature：Use
Convenient, programming is simple；Function is strong, and the ratio of performance to price is high；Hardware is comprehensive, and user is easy to use, strong adaptability；Reliability
Height, strong antijamming capability；The design of system, installation, debugging work load are few；Maintenance load is little, easy to maintenance.
Described warehouse bin label 64 adopts semi-active electronic tag, and with acrylonitrile, styrene, butadiene copolymer
Encapsulation；Working frequency range is respectively tri- frequency ranges of 2.45GHz, 125KHz, 13.56MHz；Its communication speed be set to 250K bits/
Second, 1M bps, 2M bps three kinds；Warehouse bin label 64 is using time division multiple acess and the communication mechanism of synchronization；Warehouse material
The power supply of frame label 64 is button type lithium-manganese battery, and its capacity is 246 MAHs.Semi-active electronic tag, produces with reference to active RFID
The advantage of product and passive RFID product, under the triggering of low frequency 125KHZ frequencies, allows microwave 2.45G to make the most of the advantage.It is semi-active to penetrate
Frequency technology of identification, it is also possible to be called low frequency activation triggering technique, be closely accurately positioned using low frequency, microwave far-distance identification and
Upload data to solve simple active RFID and passive RFID is had no idea the function realized.Briefly, it is exactly closely
Activation positioning, remote identification and upload data.Semi-active RFID be one be easily manipulated, it is simple and practical and be particularly suitable for
The motility application technology of Automated condtrol, without manual intervention, it can both support read-only mode of operation or prop up for identification work
Reading writing working pattern is held, and without the need for contact or is aimed at；Can freely work under various adverse circumstances, short-range radio frequency product is not afraid of
The rugged environments such as oil stain, dust pollution, can substitute bar code, be used for example in tracking object on the streamline of factory；It is long away from penetrating
Frequency product is used in traffic, and identification distance is reachable tens meters, such as automatic charging or identification testing vehicle register.
LCDs, LED-backlit, 5 lines of the described navigator liquid crystal touch screen 1 including 800 × 480 pixels when 7
Resistive touch screen processed.LED-backlit will be more more energy efficient than common thermal light source life-span length.Liquid crystal touch screen is also called touch surface
Plate, is a vicariouss liquid crystal indicator that can receive contact input signal, when the graphic button on screen is contacted, screen
On haptic feedback system various functions can be realized according to the software of preprogramming, to replace mechanical button.
Described transport car bottom plate 57 is arranged below 4 rolling bearings, (see Fig. 1, is readily transported the shifting of car bottom plate 57 or so
It is dynamic), and transport car bottom plate 57 and driven by linear electric motors；The linear electric motors are U-type groove formula linear electric motors, and the linear electric motors have
Two between metallic plate and all against the parallel track of coil mover, the mover of the linear electric motors is supported on by guide track system
In the middle of two tracks, the mover of the linear electric motors is non-steel.Mover is non-steel, it is meant that without suction and in track and thrust line
Noiseless power is produced between circle.The assembling of non-steel coil has inertia little, it is allowed to the advantages of very high acceleration.
Described left handgrip 28 is provided with left handgrip spacer pin 29, as shown in figure 3, left handgrip spacer pin 29 is arranged on upper right
Side, it is spacing that described right handgrip 30 is provided with right handgrip stopper slot 31；Right handgrip stopper slot 31 opens one 45 on right handgrip 30
Degree groove (can be clearly seen from Fig. 3), so designs, and facilitates left handgrip 28 to coordinate with right handgrip 30 to capture (or release)
Body feed tank 58.
Described transport car bottom plate 57 is arranged below 4 rolling bearings, and transport car bottom plate 57 is driven by linear electric motors；Should
Linear electric motors are U-type groove formula linear electric motors, and the linear electric motors have two between metallic plate and all against coil mover
Parallel track, the mover of the linear electric motors is supported in the middle of two tracks by guide track system, and the mover of the linear electric motors is non-steel
's.Mean without suction and noiseless power produced between track and thrust coil, non-steel coil assembling has inertia little, it is allowed to
Very high acceleration.Can motor be cooled down with air-cooling to obtain the enhancing of performance.Also have using water-cooling pattern.This
Planting design can preferably reduce magnetic flux leakage because magnet is arranged on face-to-face in U-shaped guide groove.This design is also minimized
Powerful magnetic force attracts the injury for bringing.Transport car bottom plate 57 is arranged below 4 rolling bearings, and transport car bottom plate 57 just can be with a left side
Move right, i.e., accompanying drawing 2 can be moved left and right for the hoistable platform 61 of the present invention, expand the crawl article of telescopic magic hand 60
Scope.
Beneficial effect of the present invention：
First, the time for searching destination can be saved with the map Voice Navigation of RFTD technologies using the present invention, improves work
Make efficiency and comfort level；Material is carried using electric transporting vehicle, using hoistable platform and telescopic magic hand body feed tank is picked and placeed, saved time
It is laborsaving.
2nd, present configuration is exquisite, designs the hardware resource of 16 single-chip microcomputers, not only can meet and use large-size
Liquid crystal display screen makees the needs of the navigator of display, it is also possible to meet the card reader needs with warehouse bin label communication.
3rd, the present invention have wide popularizing application prospect, can be widely applied to machinery plant, Electronics Factory, chemical plant,
The enterprises such as Metallurgical Factory, the robot system high degree of automation, can flexibly command behind the scenes.
Description of the drawings
Accompanying drawing 1 is general structure schematic diagram of the invention；
In Fig. 1：Service brake 51, frame panel 52, accumulator 53, seat cushion 54, controller 55, direct current generator 56, transport vehicle bottom
Plate 57, body feed tank 58, remote control 59, telescopic magic hand 60, hoistable platform 61, backrest 62, map Voice Navigation instrument 63, storehouse
Storehouse bin label 64, radiofrequency signal 65, steering handle 66.
Accompanying drawing 2 is the structural representation of the hoistable platform 61 of the present invention；
In Fig. 2：Platform 41, lifting scissor 42, lifting scissor guide rail 43, base plate 44, hydraulic lifting oil cylinder 45, elevating lever
46。
Accompanying drawing 3 is the structural representation of the telescopic magic hand 60 of the present invention；
In Fig. 3：Telescopic magic hand support 21, expansion link connecting bolt 22, flexible scissor guide rail 23, expansion link 24, hydraulic pressure
Telescopic oil cylinder 25, hydraulically extensible oil cylinder power line 26, flexible scissor 27, left handgrip 28, left handgrip spacer pin 29, right handgrip 30,
Right handgrip stopper slot 31.
Accompanying drawing 4 is the structural representation of the remote control 59 of the present invention；
In Fig. 4：Infrared transmitting tube 11, lifting key 12, decline key 13, power supply of remote controller switch 14, retraction key 15, extension key
16th, remote control LCDs 17.
Accompanying drawing 5 is the structural representation of the map Voice Navigation instrument 63 of the present invention；
In Fig. 5：Navigator liquid crystal touch screen 1, speaker 2, a upper website report button 3, next website and report and press
Key 4, quiet switch key 5, navigator on and off switch 6.
Specific embodiment
As shown in figure 1, arranging the warehouse bin label of unique encodings in each discharge frame fixed position of materials warehouse first
64, warehouse bin label 64 is just ceaselessly sent out the radiofrequency signal 65 comprising customizing messages.Warehouseman drives this
Invention vehicle is walked in warehouse shelf passage, and when this vehicle is reached near shelf, warehouseman opens navigator power supply and opens
6 are closed, navigation map and current location are shown on navigator liquid crystal touch screen 1, once map Voice Navigation instrument 63 (referring to accompanying drawing 5)
Into trigger range region, just can automatically report the goods carrier title, just can automatic sensing to the radiofrequency signal 65, a little while,
Speaker 2 can also point out next direct of travel；A upper website reports button 3 and next website is reported button 4 and broadcast respectively
The information of one and next website, quiet switch key 5 is reported to open or close report voice.Warehouseman according to
The voice that information and speaker 2 on navigator liquid crystal touch screen 1 is reported drives material transport vehicle, and accumulator 53 gives direct current generator
56 provide electric energy, the control direct of travel of steering handle 66, speed and do parking action that the control of service brake 51 is advanced.
The destination that warehouseman first has to look for is the storing place for being deposited in the one layer of goods in the top of body feed tank 58, then
The destination to be looked for is the storing place for being deposited in the second layer goods of body feed tank 58, by that analogy.When warehouseman is according to raising one's voice
Device 2 and map Voice Navigation instrument 63 find purpose shelf side, and the power supply of remote controller of opening remote control device 59 (referring to accompanying drawing 4) is opened
14 are closed, infrared transmitting tube 11 launches telecommand, the display action direction of remote control liquid crystal display 17.Controller 55 in transport vehicle
Receive telecommand.Lifting key 12, decline key 13 control respectively the raising and lowering of hoistable platform 61 (referring to accompanying drawing 2)；Stretch out
Key 16, retraction key 15 control respectively extending and retracting for telescopic magic hand 60 (referring to accompanying drawing 3).Because telescopic magic hand 60 is installed
On the platform 41 of hoistable platform 61, can be by the lifting of platform 41, left handgrip 28, the folding of right handgrip 30 and flexible are suitable
Profit realizes the crawl to body feed tank 58 (if body feed tank 58 has dried layer, capturing ground floor first certainly), delivers to purpose material position, puts down
Action is picked and placeed etc. a series of.Hoistable platform 61 drives elevating lever 46 by hydraulic lifting oil cylinder 45, makes an edge of lifting scissor 42
Lifting scissor guide rail 43 slides, and realizes the lifting of platform 41.In telescopic magic hand 60, expansion link connecting bolt 22 and expansion link 24
On connecting hole be connected, hydraulically extensible oil cylinder 25 drives expansion link 24, makes an edge telescoping scissors fork guide rail of flexible scissor 27
23 motions, realize left handgrip 28, the folding of right handgrip 30 and stretch.Left handgrip 28 is spacing by left handgrip spacer pin 29, and the right side is grabbed
Handss 30 are spacing by right handgrip stopper slot 31, make left and right handgrip maximum opening be that both sides are parallel.So as to realize left handgrip 28 and the right side
Handgrip 30 combines to capture body feed tank 58, and body feed tank 58 is put on specified shelf to reach, and realizes the purpose of the present invention.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, the material handling robot system is mainly by the material based on RF identification
Frame navigation subsystem, the material handling subsystem based on remote control are constituted；Bin navigation subsystem based on RF identification includes ground
Graphic language sound navigator 63, warehouse bin label 64；Material handling subsystem based on remote control includes that telescopic magic hand 60, lifting are flat
Platform 61, remote control 59, controller 55 and walking machine equipment composition；Walking machine equipment is by service brake 51, frame panel 52, storage
Battery 53, seat cushion 54, controller 55, direct current generator 56, transport car bottom plate 57, body feed tank 58, remote control 59, telescopic magic hand
60th, hoistable platform 61, backrest 62, map Voice Navigation instrument 63, warehouse bin label 64, radiofrequency signal 65, steering handle
66 compositions；It is that for convenience human pilot is turned to that steering handle 66 is arranged on the anterior frame panel 52 of vehicle, the ground graphic language
Sound navigator 63 is arranged on the right side of steering handle 66 display screen of human pilot viewing map Voice Navigation instrument 63 for convenience, ground
Graphic language sound navigator 63 launches in time radiofrequency signal 65, and service brake 51 is arranged on the frame panel 52 of vehicle driver for convenience
Member's brake in time, service brake 51 is arranged on immediately below map Voice Navigation instrument 63；Frame panel 52 is also equipped with seat cushion 54 and seat
Backrest 62 for convenience take by human pilot, and it is to save space that accumulator 53 is provided with below seat cushion 54；After seat cushion 54
Controller 55 is installed in the box of side；Controller 55 mainly will be present controlling telescopic magic hand 60 and hoistable platform 61
The rear of pad 54 also pose hopper 58；Body feed tank 58 is placed in before hoistable platform (61)；Body feed tank 58 can be multiple materials
Case pile up together (here illustrate, present invention be directed to that a body feed tank puts same part, different parts can not be mixed and put
In same body feed tank 58), capture the body feed tank 58, Ran Houyi of the superiors when crawl body feed tank 58 of telescopic magic hand 60 certainly
Secondary downward crawl body feed tank 58, lays transportable transport car bottom plate 57 again on frame panel 52, can so cause transport
Car bottom plate 57 is all around moved；Hoistable platform 61 and telescopic magic hand 60 are installed on transport car bottom plate 57；Described map
Voice Navigation instrument 63 reports button 3, next website and reports and press by navigator liquid crystal touch screen 1, speaker 2, a upper website
Key 4, quiet switch key 5, navigator on and off switch 6 are constituted；Navigator on and off switch 6 is first turned on when using, human pilot can
To be input into the address to be gone on navigator liquid crystal touch screen 1, approach then will be automatically shown, it is so very convenient to use.
Described telescopic magic hand 60 is by Shen contracting manipulator support 21, expansion link connecting bolt 22, flexible scissor guide rail 23, expansion link
24th, hydraulically extensible oil cylinder 25, hydraulically extensible oil cylinder power line 26, flexible scissor 27, left handgrip 28, left handgrip spacer pin 29, the right side
Handgrip 30, right handgrip stopper slot 31 are constituted (see Fig. 3 in detail).Described hydraulically extensible oil cylinder power line 26 is arranged on hydraulically extensible
The bottom of oil cylinder 25 and with motor UNICOM on hydraulic pump；Described expansion link 24 is connected with the piston rod of hydraulically extensible oil cylinder 25
Connect, simultaneous retractable bar 24 is connected again with expansion link connecting bolt 22；Described expansion link 24 is provided with circular hole；Described expansion link connects
It is the dynamic cooperation of 0.05mm to patch gap between pin 22 and flexible scissor guide rail 23, and pre-sets lithio profit in gap therebetween
Consistent lubricant, the so convenient dynamic lubrication for coordinating.Described flexible scissor 27 is 6, and cross-shaped arrangement；Described telescoping scissors
Fork 27 is connected with telescopic magic hand support 21, above a flexible scissor 27 be telescopic magic hand support is fixed on by bearing pin
In 21, below a flexible scissor 27 be to be connected with expansion link connecting bolt 22；It is spacing that described left handgrip 28 is provided with left handgrip
Pin 29, as shown in figure 3, left handgrip spacer pin 29 is arranged on upper right side, described right handgrip 30 is provided with right handgrip stopper slot 31 and limits
Position；Right handgrip stopper slot 31 opens 45 degree of groove (can be clearly seen from Fig. 3) on right handgrip 30, so designs, side
Just left handgrip 28 and right handgrip 30 coordinate to capture (or release) body feed tank 58, described telescopic magic hand support 21, flexible
Scissor 27, left handgrip 28, the material of right handgrip 30 are all aluminium alloy, and its trade mark is 7050-T7451；Aluminium alloy 7050-T7451
Not only intensity is high but also light weight can meet material crawl and can reduce entire machine weight of equipment, described hoistable platform 61
It is made up of platform 41, lifting scissor 42, lifting scissor guide rail 43, base plate 44, hydraulic lifting oil cylinder 45, elevating lever 46；Described
Platform 41 is arranged on the top of lifting scissor 42；The described material of platform 41 is carbon structural steels, its trade mark Q235, and its thickness is
15mm；Described lifting scissor 42 is arranged between base plate 44 and platform 41, and lifting scissor 42 is in arranged crosswise；Described lifting
Scissor 42 is 4, and the lifting scissor 42 described in bottom left is connected with base plate 44 by bearing pin；Lifting described in bottom right is cut
Fork 42 is planar slide track with lifting scissor guide rail 43, and lifting scissor guide rail 43 is provided with T-slot, the liter described in bottom right
Drop scissor 42 is provided with T-flange；Hydraulic lifting oil cylinder 45 is also equipped with base plate 44；The work of described hydraulic lifting oil cylinder 45
Stopper rod is connected with elevating lever 46 by shaft coupling；Elevating lever 46 constitutes rotary pair by connecting rod with lifting scissor 42；Described is distant
Control device 59 is provided with 16 single-chip microcomputers, infrared transmitting tube 11, lifting key 12, decline key 13, power supply of remote controller is provided with panel and is opened
Close 14, retraction key 15, extension key 16, remote control LCDs 17；Described remote control 59 is provided with 8 single-chip microcomputers.Described
Hoistable platform 61 is erected on transport car bottom plate 57；Described telescopic magic hand 60 is arranged on hoistable platform 61.So can be with
The whole machinery of composition this patent.
To sum up, automatization of the industrial undertaking navigation Handling device designed by the present invention can achieve the goal.
Claims (6)
1. automatization of industrial undertaking navigation Handling device, it is characterised in that：The device is by bin navigation based on RF identification
System, the material handling subsystem based on remote control are constituted；Bin navigation subsystem based on RF identification is led including map voice
Boat instrument (63), warehouse bin label (64)；Material handling subsystem based on remote control includes telescopic magic hand (60), hoistable platform
(61), remote control (59), controller (55) and walking machine equipment composition；Walking machine equipment is by service brake (51), vehicle frame bottom
Plate (52), accumulator (53), seat cushion (54), controller (55), direct current generator (56), transport car bottom plate (57), body feed tank (58),
Remote control (59), telescopic magic hand (60), hoistable platform (61), backrest (62), map Voice Navigation instrument (63), warehouse material
Frame label (64), radiofrequency signal (65), steering handle (66) composition；Steering handle (66) is installed in the anterior vehicle frame bottom of vehicle
On plate (52), map Voice Navigation instrument (63) is launched in time installed in steering handle (66) right side, map Voice Navigation instrument (63)
Radiofrequency signal (65), on the frame panel (52) of vehicle, service brake (51) is installed in map Voice Navigation instrument for service brake (51)
(63) immediately below；Frame panel (52) is also equipped with seat cushion (54) and backrest (62), and in seat cushion (54) lower section electric power storage is provided with
Pond (53)；Controller (55) is installed in the box at seat cushion (54) rear；In seat cushion (54) rear also pose hopper (58)；
Body feed tank (58) is placed in before hoistable platform (61)；Transportable transport car bottom plate is laid on frame panel (52) again
(57)；Hoistable platform (61) and telescopic magic hand (60) are installed in transport car bottom plate (57)；Described map Voice Navigation instrument
(63) button (3), next website are reported by navigator liquid crystal touch screen (1), speaker (2), a upper website and reports button
(4), quiet switch key (5), navigator on and off switch (6) composition；Described telescopic magic hand (60) is by telescopic magic hand support
(21), expansion link connecting bolt (22), flexible scissor guide rail (23), expansion link (24), hydraulically extensible oil cylinder (25), hydraulically extensible
Oil cylinder power line (26), flexible scissor (27), left handgrip (28), left handgrip spacer pin (29), right handgrip (30), right handgrip are spacing
Groove (31) is constituted；Described hydraulically extensible oil cylinder power line (26) is installed in the bottom of hydraulically extensible oil cylinder (25) and and hydraulic pressure
Beng Shang motors UNICOM；Described expansion link (24) is connected with the piston rod of hydraulically extensible oil cylinder (25), simultaneous retractable bar (24)
It is connected with expansion link connecting bolt (22) again；Described expansion link (24) is provided with circular hole；Described expansion link connecting bolt (22)
Gap is the dynamic cooperation of 0.05mm between flexible scissor guide rail (23), and pre-sets lithium base grease in gap therebetween；
Described flexible scissor (27) is 6, and cross-shaped arrangement；Described flexible scissor (27) and telescopic magic hand support
(21) connect in, above a flexible scissor (27) be to be fixed in telescopic magic hand support (21) by bearing pin, below one
Flexible scissor (27) is connected with expansion link connecting bolt (22)；Described hoistable platform (61) is by platform (41), lifting scissor
(42), lifting scissor guide rail (43), base plate (44), hydraulic lifting oil cylinder (45), elevating lever (46) composition；Described platform (41)
Installed in lifting scissor (42) top；Described platform (41) material is carbon structural steels, its trade mark Q235, and its thickness is
15mm；Between base plate (44) and platform (41), lifting scissor (42) is in arranged crosswise for described lifting scissor (42)；Institute
The lifting scissor (42) stated is 4, and the lifting scissor (42) described in bottom left is connected with base plate (44) by bearing pin；Bottom, right
Lifting scissor (42) described in side and lifting scissor guide rail (43) are planar slide track, and lifting scissor guide rail (43) is provided with T
Shape groove, the lifting scissor (42) described in bottom right is provided with T-flange；Hydraulic lifting oil cylinder is also equipped with base plate (44)
(45)；The piston rod of described hydraulic lifting oil cylinder (45) is connected with elevating lever (46) by shaft coupling；Elevating lever (46) passes through
Connecting rod constitutes rotary pair with lifting scissor (42)；Be provided with the panel of described remote control (59) infrared transmitting tube (11), on
Rise key (12), decline key (13), power supply of remote controller switch (14), retraction key (15), extension key (16), remote control LCDs
(17)；Described hoistable platform (61) is erected in transport car bottom plate (57)；Described telescopic magic hand (60) is installed in lifting
On platform (61)；Described controller (55) adopts programmable logic controller (PLC)；Its hardware configuration is identical with microcomputer, it
Including power supply, CPU, memorizer, input/output interface circuit, functional module, communication module；Wherein, memorizer contains
System program memory and user program memory, memory is 2k, and digital quantity is 248 points, the tunnel of analog quantity 35；Central authorities process single
Unit is CPU that processing speed is 0.8～1.2 millisecond；Described telescopic magic hand support (21), flexible scissor
(27), left handgrip (28), the material of right handgrip (30) are all aluminium alloy, and its trade mark is 7050-T7451.
2. automatization of industrial undertaking according to claim 1 navigates Handling device, it is characterised in that：Described remote control
(59) 80,C51 8 single-chip microcomputers of series for being adopted, with data storage, 4KB in agitator and clock circuit, 128B pieces in piece
Piece internal program memorizer, the addressing range of sequence memorizer be 64KB, the addressing range of the outer data storage of piece be 64KB, 4 × 8
I/O lines, 1 full duplex serial i/O Interface, 2 16 bit timing devices/enumerators, interruption systems have 5 interrupt sources, are programmed for
Two priority, 111 instructions, 3V running voltages；Described navigator liquid crystal touch screen (1) is including 800 × 480 pictures when 7
LCDs, LED-backlit, the 5 line resistive touch screens of element.
3. automatization of industrial undertaking according to claim 1 navigates Handling device, it is characterised in that：Described map voice
Navigator (63) includes RF receiving circuit and 16 single-chip microcomputer audio frequency and video process circuits；Wherein, RF receiving circuit work frequency
Section is respectively tri- frequency ranges of 2.45GHz, 125KHz, 13.56MHz；The bus frequency of 16 single-chip microcomputers is 35～40MHz, program
Flash memory is 128KB, random access memory capacity is 8KB, data flash memory capacity is 8KB；Functional module include internal storage,
2 asynchronous serial port communications, 1 Serial Peripheral Interface (SPI), 18 passage input/output are compared timer module, 1 cycle interruption and are determined
When device module, the A/D modular converters of 16 passages, 18 channel pulse width modulation module, 4 input/output numeral mouths.
4. automatization of industrial undertaking according to claim 1 navigates Handling device, it is characterised in that：Described warehouse bin
Label (64) is encapsulated using semi-active electronic tag with acrylonitrile, styrene, butadiene copolymer；Working frequency range is respectively
Tri- frequency ranges of 2.45GHz, 125KHz, 13.56MHz；Its communication speed be set to 250K bps, 1M bps, 2M bits/
Three kinds of second；Warehouse bin label (64) is using time division multiple acess and the communication mechanism of synchronization；The power supply in warehouse bin label (64) is
Button type lithium-manganese battery, its capacity is 246 MAHs.
5. automatization of industrial undertaking according to claim 1 navigates Handling device, it is characterised in that：Described left handgrip
(28) left handgrip spacer pin (29) is provided with, it is spacing that described right handgrip (30) is provided with right handgrip stopper slot (31)；Left handgrip is spacing
Pin (29) is arranged on upper right side, and right handgrip stopper slot (31) opens 45 degree of grooves on right handgrip (30).
6. automatization of industrial undertaking according to claim 1 navigates Handling device, it is characterised in that：Described transport vehicle bottom
Plate (57) is arranged below 4 rolling bearings, and transport car bottom plate (57) is driven by linear electric motors；The linear electric motors are U-type groove formula
Linear electric motors, and the linear electric motors have two between metallic plate and all against the parallel track of coil mover, the straight line
The mover of motor is supported in the middle of two tracks by guide track system, and the mover of the linear electric motors is non-steel.
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| CN108946560A (en) * | 2018-08-14 | 2018-12-07 | 国网安徽省电力有限公司广德县供电公司 | A kind of intelligence carries the device of lift maintaining |
| CN109778621A (en) * | 2017-11-13 | 2019-05-21 | 宝马汽车股份有限公司 | Mobile platform and transportation system for transportation system |
| WO2022084522A1 (en) * | 2020-10-23 | 2022-04-28 | Seasony Ivs | Autonomous robot and gripping system. |
| CN115728332A (en) * | 2021-08-31 | 2023-03-03 | 同方威视技术股份有限公司 | Backscatter scanning system |
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